Program Listing for File high_speed_encoder_ros_i.hpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef PHIDGETS_HIGH_SPEED_ENCODER_HIGH_SPEED_ENCODER_ROS_I_HPP
#define PHIDGETS_HIGH_SPEED_ENCODER_HIGH_SPEED_ENCODER_ROS_I_HPP

#include <memory>
#include <mutex>
#include <string>
#include <vector>

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joint_state.hpp>

#include "phidgets_api/encoders.hpp"
#include "phidgets_msgs/msg/encoder_decimated_speed.hpp"

namespace phidgets {

struct EncoderDataToPub {
    double instantaneous_speed = .0;
    std::vector<double> speeds_buffer;
    bool speed_buffer_updated = false;
    int loops_without_update_speed_buffer = 0;
    std::string joint_name;
    double joint_tick2rad;
    rclcpp::Publisher<phidgets_msgs::msg::EncoderDecimatedSpeed>::SharedPtr
        encoder_decimspeed_pub;
};

class HighSpeedEncoderRosI final : public rclcpp::Node
{
  public:
    explicit HighSpeedEncoderRosI(const rclcpp::NodeOptions& options);

  private:
    std::unique_ptr<Encoders> encs_;
    std::mutex encoder_mutex_;
    std::vector<EncoderDataToPub> enc_data_to_pub_;
    std::string frame_id_;
    int speed_filter_samples_len_ = 10;
    int speed_filter_idle_iter_loops_before_reset_ = 1;

    rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr encoder_pub_;
    void timerCallback();
    rclcpp::TimerBase::SharedPtr timer_;
    double publish_rate_;

    void publishLatest();

    void positionChangeHandler(int channel, int position_change, double time,
                               int index_triggered);
};
}  // namespace phidgets

#endif  // PHIDGETS_HIGH_SPEED_ENCODER_HIGH_SPEED_ENCODER_ROS_I_HPP